CN100553798C - A kind of glue spreading and positioning system of robot - Google Patents
A kind of glue spreading and positioning system of robot Download PDFInfo
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- CN100553798C CN100553798C CNB200610164891XA CN200610164891A CN100553798C CN 100553798 C CN100553798 C CN 100553798C CN B200610164891X A CNB200610164891X A CN B200610164891XA CN 200610164891 A CN200610164891 A CN 200610164891A CN 100553798 C CN100553798 C CN 100553798C
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Abstract
The present invention relates to a kind of glue spreading and positioning system of robot, it comprises a centering platform, and two groups of directions X centering unit, one group of Y direction centering unit and two groups of sucker unit is characterized in that: each group centering unit comprises two bases, one slideway is provided with two slide blocks on the slideway; Wherein a slide block connects a driving cylinder, another slide block is oppositely arranged a Linear displacement transducer, two slider top have a centering rod, and connecting one relatively is with synchronously, each group sucker unit comprises two section bars, and long profiles is fixed on the centering platform, and short section bar is installed on the long profiles, the top of two section bars is provided with respectively the adjustable plate that extends to directions X and Y direction, and the adjustable plate end connects a Suction cup assembly respectively; Each Suction cup assembly comprises a sucker connecting plate, a U type support, and two external parts of U type support are articulated in the both sides of a Sucking disc stand respectively by an oscillating bearing, and the bottom of Sucking disc stand connects a cylinder, and cylinder drives sucker.The present invention can both accurately locate glass in X, Y, three directions of Z, and identification glass model, so that robot can adjust the gluing program automatically.
Description
Technical field
The present invention relates to a kind of navigation system, particularly about a kind of be the glue spreading and positioning system of robot of automobile wind shield glass gluing.
Background technology
The automobile front-rear windshield glass of prior art, generally all be to adopt adhesive tape sealing, because this sealing means globality is bad, noise is big, adhesive tape is aging easily to come off, and therefore at present increasing automobile front-rear windshield glass adopts glass is directly sticked in the automobile frame, and it is as a whole that glass and vehicle body are connected into, so both do not had noise, do not had the aging problem of sealing device again.But the method for this new installation windshield, exist Glue Spreading Robot to be the cumbersome problem in windshield gluing location, because front-rear windshield glass all is the surface of arc, during the location, can only finish the accurate location of glass at X, Y both direction, but can not be provided at the accurate location of Z direction, therefore will cause robot in, the quality problems that glue-line uneven distribution on glass is even for windshield edge gluing process.These quality problems directly influence are: glue-line has approached, and it is solid to be pasted not strongly, and seal clearance occurs; Glue-line is thick can to overflow the installation site, and cleaning is inconvenient, influences outward appearance.Existing in addition gluing positioner does not generally possess the function of in the location glass model being discerned, and therefore existing Glue Spreading Robot can't be adjusted the gluing program of different model glass automatically, needs the artificial control of adjusting.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of X, Y in the space, three directions of Z can both accurately be located glass, and in the glass location, discern the glass model, so that robot can adjust the glue spreading and positioning system of robot of gluing program automatically.
For achieving the above object, the present invention takes following technical scheme: a kind of glue spreading and positioning system of robot, it comprises a centering platform, described centering platform is provided with two groups of directions X centering unit, one group of Y direction centering unit and two groups of sucker unit, it is characterized in that: each group centering unit comprises two bases, the two ends of one elongated slideway are fixedly connected described two bases respectively, and the two ends of described slideway are provided with a slide block respectively; Wherein a slide block connects one and drives cylinder, and another slide block is oppositely arranged a Linear displacement transducer, and two synchronizing wheels are separately positioned in described two bases, around described two synchronizing wheels one synchronously the bilateral symmetry of band connect described two slide blocks; Described two slider top connect a centering rod respectively; Each group sucker unit comprises that one is long and the other is short two section bars, described long profiles is fixed on the centering platform, described short section bar is slidably mounted on the described long profiles, the top of described two section bars is provided with respectively the adjustable plate that extends to directions X and Y direction, connects a Suction cup assembly respectively in the described adjustable plate end of each direction; Each described Suction cup assembly comprises a sucker connecting plate of fixedlying connected with described adjustable plate, described sucker connecting plate connects a U type support by a rotating shaft, the described connecting plate of described U type support below is provided with spacer pin, two external parts of described U type support are articulated in the both sides of a Sucking disc stand respectively by an oscillating bearing, the bottom of described Sucking disc stand connects a cylinder, described cylinder drives a sucker bar that is plugged in described Sucking disc stand center, and described sucker masthead portion is provided with a sucker.
Described two centerings rod top has the platform that a circle inwardly contracts, and the described centering rod of described platform top is the tapering of chap gradually.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is because in each centering unit, employing is in centering rod motion of air cylinder driven, be synchronized with the movement by another centering rod of band drive synchronously, therefore not only make the centering location of glass accurate synchronously, and can detect displacement data and send to control system by a Linear displacement transducer easily, make control system in definite glass model, corresponding gluing program.2, the present invention has the Sucking disc stand center that two frees degree are rotated because sucker is arranged on one, therefore glass not before the centering by the Sucking disc stand support glass, after glass centering is finished, sucker stretches out and holds glass and pull down glass, make two frees degree motion of Sucking disc stand can adapt to the crooked radian of glass well, and the rigid support by Sucking disc stand, reach accurate location, thereby realized the object of the invention well in the Z direction.3, the present invention is owing to be provided with the tapering of chap gradually above the platform of centering rod support glass, and therefore after centering was finished, when sucker rose absorption glass, glass was received the restriction of centering rod tapering, and can play.It is interior to various glass that the present invention can be implemented in three dimensions, particularly has bend glass and carry out accurate localization.
Description of drawings
Fig. 1 is a structural representation of the present invention
Fig. 2 is a centering cellular construction of a present invention schematic diagram
Fig. 3 is the present invention's two centering slide blocks schematic diagrames that are synchronized with the movement
Fig. 4 is a sucker of the present invention unit connection diagram
Fig. 5 is a sucker cellular construction schematic diagram of the present invention
Fig. 6 is a kind of motion state schematic diagram of sucker of the present invention unit
Fig. 7 is the another kind of motion state schematic diagram of sucker of the present invention unit
The specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, the present invention includes a centering platform 1, separately certain distance has been horizontally disposed with the centering unit 2,3 of two groups of directions Xs on centering platform 1, and the vertical direction in the centering unit 2,3 of two groups of directions Xs has been horizontally disposed with the centering unit 4 of one group of Y direction.On centering platform 1, also be provided with two groups of sucker unit 20 of realizing glass Z direction location.
As Fig. 2, shown in Figure 3, the structure of the centering unit 4 of 2, the 3 and one groups of Y directions in centering unit of two groups of directions Xs of the present invention is basic identical, thus below be that example is illustrated only with one group of centering unit (no matter being that group) wherein.The centering unit comprises that certain distance separately is oppositely arranged on two bases 5,6 of centering platform 1 both sides, one elongated slideway 7 is set on two bases 5,6, one slide block 8,9 is set respectively at slideway 7 two ends, on the base 6 cylinder 10 is set therein, the movable end of cylinder 10 (generally being piston rod) connects slide block 9.Two synchronizing wheels 11,12 are separately positioned in two bases 5,6, are being with 13, two slide blocks, 8,9 symmetries to connect firmly on synchronously with 13 upper and lower zone face synchronously around one on two synchronizing wheels 11,12.When cylinder 10 drives slide block 9 slips like this, synchronously with 13 can drive slide block 8 on slideway 7, do with respect to or opposing being synchronized with the movement in slide block 9, and the move distance of two slide blocks 8,9 equates, therefore can realize centering rod 14, the 15 synchronous centerings on two slide blocks 8,9.Two centering rods, 14,15 tops have the platform 16,17 that a circle inwardly contracts respectively, glass that can support centering, the centering rod 14,15 of platform 16,17 tops has the tapering of chap gradually, can make the glass behind the location be subjected to one to the component that presses down, play can not make progress when sucker upwards holds glass.One Linear displacement transducer 18 also is installed on base 5, and Linear displacement transducer 18 can be responded to the linear displacement of slide block 8.A Linear displacement transducer 18 is set respectively in three centering unit 2,3,4, and control system just can be by the transmission of induced signal, and judgement is the glass of what model, thereby starts corresponding gluing program.
As Fig. 1, Fig. 4, shown in Figure 5, two groups of sucker unit 20 symmetrical configuration of the present invention, each sucker unit 20 comprises: two section bars 21,22 that length is different, long section bar 21 is fixed on the centering platform 1, short section bar 22 vertically is installed on the section bar 21, can slide up and down along section bar 21, to regulate the height between two section bars 21,22.At two section bars, 21,22 tops, the adjustment plate 23,24 that is respectively arranged with on one or two blocks of adjustable plate 23,24, two section bars 21,22 extends to directions X and Y direction respectively.The structure that connects a Suction cup assembly 25,26, two Suction cup assemblies 25,26 on the plate 23,24 respectively is identical adjusting.
As shown in Figure 5, each group Suction cup assembly 25 (is example with Suction cup assembly 25) comprises a sucker connecting plate 27 of fixedlying connected with adjustment plate 23, sucker connecting plate 27 is by a rotating shaft 28 U type support 29 that is rotationally connected, two external parts of U type support 29 are articulated in the both sides of a Sucking disc stand 31 respectively by an oscillating bearing 30, connect a cylinder 32 in the bottom of Sucking disc stand 31, the piston of cylinder 32 connects an end of a sucker bar 34 by an interlock plate 33, the other end of sucker bar 34 is located in the center guide hole of Sucking disc stand 31, the top of sucker bar 34 is provided with the sucker 35 that a surface has flexible material, in sucker connecting plate 27 bottoms, be provided with two spacer pins 36, with the deflection angle of restriction U type support 29.
The present invention is transported to centering platform 1 at glass, but when being unrealized centering, glass is supported by the Sucking disc stand 31 of two groups of sucker unit 20, after glass is finished by three groups of centering unit, 2,3,4 centerings, cylinder 32 starts, drive sucker 35 and move upward and hold glass, oppositely start cylinder 32 then and drive suckers 35 and glass is pulled down cling to Sucking disc stand 31 upper surfaces.The Sucking disc stand 31 of this moment, owing to both can rotate (as shown in Figure 6) around rotating shaft 28, can be that hinged point rotates (as shown in Figure 7) with two oscillating bearings 30 again, therefore when sucker 35 drive glass pull down, Sucking disc stand 31 can rotate with the radian of glass and change, glass is attached on the Sucking disc stand 31 of rigidity to greatest extent, thereby the glass after the realization centering is in the accurate location of Z direction.Because it is Sucking disc stand 31 is rigid bodies, higher simultaneously than traditional flexible sucker positioning accuracy.
Claims (2)
1, a kind of glue spreading and positioning system of robot, it comprises a centering platform, described centering platform is provided with two groups of directions X centering unit, one group of Y direction centering unit and two groups of sucker unit, it is characterized in that:
Each group centering unit comprises two bases, and the two ends of an elongated slideway are fixedly connected described two bases respectively, and the two ends of described slideway are provided with a slide block respectively; Wherein a slide block connects one and drives cylinder, and another slide block is oppositely arranged a Linear displacement transducer, and two synchronizing wheels are separately positioned in described two bases, around described two synchronizing wheels one synchronously the bilateral symmetry of band connect described two slide blocks; Described two slider top connect a centering rod respectively;
Each group sucker unit comprises that one is long and the other is short two section bars, described long profiles is fixed on the centering platform, described short section bar is slidably mounted on the described long profiles, the top of described two section bars is provided with respectively the adjustable plate that extends to directions X and Y direction, connects a Suction cup assembly respectively in the described adjustable plate end of each direction; Each described Suction cup assembly comprises a sucker connecting plate of fixedlying connected with described adjustable plate, described sucker connecting plate connects a U type support by a rotating shaft, the described connecting plate of described U type support below is provided with spacer pin, two external parts of described U type support are articulated in the both sides of a Sucking disc stand respectively by an oscillating bearing, the bottom of described Sucking disc stand connects a cylinder, described cylinder drives a sucker bar that is plugged in described Sucking disc stand center, and described sucker masthead portion is provided with a sucker.
2, a kind of glue spreading and positioning system of robot as claimed in claim 1 is characterized in that: the two centerings rod top of described each group centering unit has the platform that a circle inwardly contracts, and the described centering rod of described platform top is the tapering of chap gradually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610164891XA CN100553798C (en) | 2006-12-07 | 2006-12-07 | A kind of glue spreading and positioning system of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB200610164891XA CN100553798C (en) | 2006-12-07 | 2006-12-07 | A kind of glue spreading and positioning system of robot |
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| Publication Number | Publication Date |
|---|---|
| CN101091942A CN101091942A (en) | 2007-12-26 |
| CN100553798C true CN100553798C (en) | 2009-10-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB200610164891XA Active CN100553798C (en) | 2006-12-07 | 2006-12-07 | A kind of glue spreading and positioning system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786124A (en) * | 2010-03-10 | 2010-07-28 | 奇瑞汽车股份有限公司 | Shutting and centering mechanism produced by manipulator punching automation |
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| CN101954341B (en) * | 2009-07-21 | 2012-01-11 | 上海发那科机器人有限公司 | robot sucker claw for coating automobile roof |
| CN102442784B (en) * | 2011-01-26 | 2014-02-19 | 济南吉利汽车有限公司 | Manual sizing platform for automobile windscreen |
| CN102849444B (en) * | 2011-06-29 | 2014-10-29 | 深南电路有限公司 | Alignment location device |
| CN105363650B (en) * | 2015-12-18 | 2018-09-25 | 上汽通用五菱汽车股份有限公司 | A kind of feed mechanism of windshield coating system |
| CN105381911B (en) * | 2015-12-22 | 2018-06-15 | 洛阳天久铝业有限公司 | A kind of circle non-stick pan pot trypsin method centralized positioning and cladding system |
| CN105618305B (en) * | 2016-03-29 | 2017-11-28 | 盐城工学院 | Spraying equipment |
| CN107029955A (en) * | 2017-06-02 | 2017-08-11 | 秀卓自动化设备（湖北）有限公司 | A kind of clean hatch for automobile skylight glass primary coat |
| CN108262221A (en) * | 2018-03-28 | 2018-07-10 | 埃斯顿（湖北）机器人工程有限公司 | A kind of vehicle glass robot cleans primary coat work station automatically |
| CN108972405B (en) * | 2018-07-03 | 2021-11-09 | Tcl王牌电器(惠州)有限公司 | Positioning device |
| CN109954627B (en) * | 2019-03-11 | 2021-04-30 | 广汽本田汽车有限公司 | Automobile windshield gluing system |
| CN110182606A (en) * | 2019-06-14 | 2019-08-30 | 长春艾希技术有限公司 | A kind of quarter window piece uploading platform turnover mechanism |
| CN110142186A (en) * | 2019-06-14 | 2019-08-20 | 长春艾希技术有限公司 | A kind of windscreen positioning device |
| CN110271030A (en) * | 2019-07-23 | 2019-09-24 | 北京锐洁机器人科技有限公司 | A kind of semiconductor crystal wafer end effector |
| CN111617936A (en) * | 2020-06-08 | 2020-09-04 | 威准（厦门）自动化科技有限公司 | Wax sealing machine |
| CN113617601B (en) * | 2021-08-03 | 2023-09-12 | 奇瑞新能源汽车股份有限公司 | Windshield glass gluing workbench |
-
2006
- 2006-12-07 CN CNB200610164891XA patent/CN100553798C/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101786124A (en) * | 2010-03-10 | 2010-07-28 | 奇瑞汽车股份有限公司 | Shutting and centering mechanism produced by manipulator punching automation |
| CN101786124B (en) * | 2010-03-10 | 2011-12-14 | 奇瑞汽车股份有限公司 | Shutting and centering mechanism produced by manipulator punching automation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101091942A (en) | 2007-12-26 |
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